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Reworking the communication protocol

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This commit is contained in:
esilva
2025-12-23 23:36:26 +00:00
parent af3322bc9f
commit 93c5c55ba9
6 changed files with 178 additions and 79 deletions
Download Patch File Download Diff File Expand all files Collapse all files
peripheral/communication/communication.go
+47 -4
View File
@@ -13,8 +13,51 @@ const (
)
const (
CmdRequestID types.Command = iota
CmdAckID
CmdCreateScreen
CmdCreateWindow
CmdRequestID types.Command = 1
CmdAckID types.Command = 2
CmdCreateWindow types.Command = 3
CmdDestroyWindow types.Command = 4
)
var crc8Table = [256]byte{
0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15,
0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D,
0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,
0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,
0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,
0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,
0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,
0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,
0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,
0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,
0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,
0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,
0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,
0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,
0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,
0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,
0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,
0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,
0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,
0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,
0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,
0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,
0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,
0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,
0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,
0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,
0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,
0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,
0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,
0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,
0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB,
0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3,
}
func CRC8(data []byte) byte {
var crc byte = 0x00
for _, b := range data {
crc = crc8Table[crc^b]
}
return crc
}
peripheral/communication/walkieTalkie.go
+85 -44
View File
@@ -6,6 +6,7 @@ import (
"fmt"
"io"
helper "esdi/helpers"
"esdi/peripheral/communication/constvar"
"esdi/peripheral/communication/packets"
"esdi/peripheral/types"
@@ -24,7 +25,6 @@ func (wt *WalkieTalkie) ReadFramedData(size int, packet any) error {
for {
b := make([]byte, 1)
_, err := wt.Serial.Read(b)
if err != nil {
fmt.Println("dev read:", err.Error())
return err
@@ -79,17 +79,49 @@ type header struct {
EndByte uint8
}
func (wt *WalkieTalkie) sendPacket(data any) error {
fmt.Println("Sending a packet...")
type CMDDataPacket struct {
StartMarker uint8
CMD types.Command
Len uint16
Payload []byte
CRC uint8
EndMarker uint8
}
func (cmdp *CMDDataPacket) Serialize() []byte {
buf := make([]byte, 0, 1+1+2+len(cmdp.Payload)+1+1)
buf = append(buf, cmdp.StartMarker)
buf = append(buf, byte(cmdp.CMD))
buf = append(buf, byte(cmdp.Len), byte(cmdp.Len>>8))
buf = append(buf, cmdp.Payload...)
buf = append(buf, cmdp.CRC)
buf = append(buf, cmdp.EndMarker)
return buf
}
func (wt *WalkieTalkie) sendPacket(cmd types.Command, data any) error {
// Prepare the payload
var buf bytes.Buffer
err := binary.Write(&buf, binary.LittleEndian, data)
payload, err := helper.StructToBytes(data)
if err != nil {
return err
}
packet := CMDDataPacket{
StartMarker: constvar.StartOfText,
CMD: cmd,
Len: uint16(len(payload)),
Payload: payload,
CRC: CRC8(payload),
EndMarker: constvar.EndOfText,
}
// Send the payload
_, err = wt.Serial.Write(buf.Bytes())
serializedPacket := packet.Serialize()
fmt.Println(serializedPacket)
_, err = wt.Serial.Write(serializedPacket)
if err != nil {
return err
}
@@ -115,54 +147,63 @@ func (wt *WalkieTalkie) readPacket(resp packets.Packet) error {
return nil
}
func (wt *WalkieTalkie) sendHeader(h *header) error {
err := wt.sendPacket(h)
if err != nil {
return err
}
// func (wt *WalkieTalkie) sendHeader(h *header) error {
// err := wt.sendPacket(h)
// if err != nil {
// return err
// }
//
// // var ack packets.AckPacket
// // err = wt.readPacket(&ack)
// // if err != nil {
// // return err
// // }
//
// return nil
// }
var ack packets.AckPacket
err = wt.readPacket(&ack)
if err != nil {
return err
}
return nil
}
func (wt *WalkieTalkie) sendBody(payload any, resp packets.Packet) error {
err := wt.sendPacket(payload)
if err != nil {
return err
}
err = wt.readPacket(resp)
if err != nil {
return err
}
return nil
}
// func (wt *WalkieTalkie) sendBody(payload any, resp packets.Packet) error {
// err := wt.sendPacket(payload)
// if err != nil {
// return err
// }
//
// // err = wt.readPacket(resp)
// // if err != nil {
// // return err
// // }
//
// return nil
// }
func (wt *WalkieTalkie) SendCommand(cmd types.Command, payload any,
responseBody packets.Packet) error {
responseBody packets.Packet,
) error {
// Prepare the header
header := header{
StartByte: constvar.StartOfText,
CMD: cmd,
EndByte: constvar.EndOfText,
}
// header := header{
// StartByte: constvar.StartOfText,
// CMD: cmd,
// EndByte: constvar.EndOfText,
// }
// Send the header
err := wt.sendHeader(&header)
// err := wt.sendHeader(&header)
// if err != nil {
// return err
// }
// Send the body
err := wt.sendPacket(cmd, payload)
if err != nil {
return err
}
// Send the body
err = wt.sendBody(payload, responseBody)
if err != nil {
return err
// if the responseBody != nil, then we also read and populate it???
if responseBody != nil {
err = wt.readPacket(responseBody)
if err != nil {
return err
}
}
return nil
peripheral/device.go
+20 -1
View File
@@ -4,6 +4,8 @@ import (
comm "esdi/peripheral/communication"
pack "esdi/peripheral/communication/packets"
"esdi/peripheral/devices"
"esdi/peripheral/types"
"fmt"
"time"
"github.com/tarm/serial"
@@ -68,7 +70,7 @@ func (p *PeripheralDevice) Probe() error {
// Send the identification command
cmd := comm.CmdRequestID
var response pack.IdentificationPacket
err = p.WT.SendCommand(cmd, []byte{}, &response)
err = p.WT.SendCommand(cmd, []byte{0x06, 0x07, 0x08, 0x09}, &response)
if err != nil {
return err
}
@@ -80,6 +82,23 @@ func (p *PeripheralDevice) Probe() error {
return nil
}
func (p *PeripheralDevice) SendCommand(cmd types.Command, payload []byte) error {
fmt.Println("Send command:", cmd)
fmt.Println("With payload:", payload)
var ack pack.AckPacket
err := p.WT.SendCommand(cmd, payload, &ack)
if err != nil {
return err
}
if ack.AckByte == 0x06 {
fmt.Println("Succesfully received ack")
}
return nil
}
func (p *PeripheralDevice) ToConnectedIdling() {
p.State = StateConnected
p.CommState = comm.CommIdle
peripheral/devices/cdash_display.go
+17 -14
View File
@@ -9,8 +9,8 @@ import (
)
const (
newWindowCMDID types.CommandID = iota
destroyWindowCMDID
newWindowCMDID types.Command = 3
destroyWindowCMDID types.Command = 4
)
var CDashDisplay = Device{
@@ -32,17 +32,18 @@ var CDashDisplay = Device{
},
}
func createWindow(dCMD *DeviceCMD, args []string) (types.CommandID, []byte, error) {
func createWindow(dCMD *DeviceCMD, args []string) (types.Command, []byte, error) {
// Parse the command
// x0, y0, width, height, title # add other decorations later on
// fmt.Printf("%s command called: %+v\n", dCMD.GetName(), args)
type UIWindow struct {
X0 uint16
Y0 uint16
Width uint16
Height uint16
Title [32]byte
StartMarker uint8
X0 uint16
Y0 uint16
Width uint16
Height uint16
EndMarker uint8
}
if len(args) != 5 {
@@ -68,11 +69,13 @@ func createWindow(dCMD *DeviceCMD, args []string) (types.CommandID, []byte, erro
}
data := UIWindow{
X0: uint16(x0),
Y0: uint16(y0),
Width: uint16(width),
Height: uint16(height),
Title: helper.B32(args[4]),
StartMarker: 0x02,
X0: uint16(x0),
Y0: uint16(y0),
Width: uint16(width),
Height: uint16(height),
// Title: helper.B32(args[4]),
EndMarker: 0x03,
}
// fmt.Printf("Data: %+v\n", data)
@@ -85,7 +88,7 @@ func createWindow(dCMD *DeviceCMD, args []string) (types.CommandID, []byte, erro
return dCMD.GetIdentifier(), bytes, nil
}
func destroyWindow(dCMD *DeviceCMD, args []string) (types.CommandID, []byte, error) {
func destroyWindow(dCMD *DeviceCMD, args []string) (types.Command, []byte, error) {
// Parse the command
fmt.Printf("%s command called: %+v\n", dCMD.GetName(), args)
peripheral/devices/devices.go
+3 -3
View File
@@ -42,10 +42,10 @@ type DeviceCMDPayload struct {
// DeviceCMDFn defines the basic type for the functions the devices can have
// The function will receive a []byte that should be the arguments the user
// types in the REPL - or however this will be used
type DeviceCMDFn func(dCMD *DeviceCMD, args []string) (types.CommandID, []byte, error)
type DeviceCMDFn func(dCMD *DeviceCMD, args []string) (types.Command, []byte, error)
type DeviceCMD struct {
Identifier types.CommandID
Identifier types.Command
Name string
Desc string
Header DeviceCMDHeader
@@ -53,7 +53,7 @@ type DeviceCMD struct {
Fn DeviceCMDFn
}
func (dCMD *DeviceCMD) GetIdentifier() types.CommandID {
func (dCMD *DeviceCMD) GetIdentifier() types.Command {
return dCMD.Identifier
}
peripheral/peripheral.go
+6 -13
View File
@@ -3,7 +3,6 @@ package peripheral
import (
"esdi/peripheral/devices"
"esdi/peripheral/types"
"fmt"
"path/filepath"
)
@@ -87,12 +86,12 @@ func (clerk *PeripheralDeviceClerk) ListDevices() error {
return nil
}
func (clerk *PeripheralDeviceClerk) getDevice(ID uint8) *devices.Device {
func (clerk *PeripheralDeviceClerk) getDevice(ID uint8) *PeripheralDevice {
if _, ok := clerk.Devices[ID]; !ok {
return nil
}
return clerk.Devices[ID].DeviceAPI
return clerk.Devices[ID]
}
func (clerk *PeripheralDeviceClerk) ListDeviceAPI(ID uint8) error {
@@ -101,27 +100,21 @@ func (clerk *PeripheralDeviceClerk) ListDeviceAPI(ID uint8) error {
return fmt.Errorf("device with ID %d not found", ID)
}
for _, f := range dev.API {
for _, f := range dev.DeviceAPI.API {
fmt.Printf("%s\t%s\n", f.Name, f.Desc)
}
return nil
}
func (clerk *PeripheralDeviceClerk) sendDeviceFn(c types.CommandID, payload []byte) error {
fmt.Println("Send command:", c)
fmt.Println("With payload:", payload)
return nil
}
func (clerk *PeripheralDeviceClerk) RunDeviceFunction(ID uint8, f string, args []string) error {
dev := clerk.getDevice(ID)
if dev == nil {
return fmt.Errorf("device with ID %d not found", ID)
}
devAPI := dev.DeviceAPI
cmd := dev.HasFunction(f)
cmd := devAPI.HasFunction(f)
if cmd == nil {
return fmt.Errorf("requested function %s doesnt exist", f)
}
@@ -132,7 +125,7 @@ func (clerk *PeripheralDeviceClerk) RunDeviceFunction(ID uint8, f string, args [
return err
}
err = clerk.sendDeviceFn(command, payload)
err = dev.SendCommand(command, payload)
if err != nil {
return err
}